SRMAUV Workspace for ROS

This is a workspace for working on AUV using ros. To complete the setup, first of all clone this repo in the $HOME directory of your system.

⚠️ Warning: Make sure you have ROS2 (Humble) and Gazebo Harmonic installed in your system.

Then install the required ROS2 plugins with the given commands:

ROS2 with Gazebo Harmonic:

sudo apt-get install ros-humble-ros-gzharmonic

Transforms:

sudo apt install ros-humble-tf2-tools

URDF:

sudo apt install ros-humble-urdf-tutorial

Install ROS 2 Compressed Image Transport:

sudo apt install ros-humble-compressed-image-transport

Make sure Compressed Image Transport is listed: ros2 run image_transport list_transports

Install OpenCV 4.x

libsystemd-dev:

sudo apt install libsystemd-dev

And finally add these lines to your ~/.bashrc file by using the cmd gedit ~/.bashrc

source /opt/ros/humble/setup.bash
source ~/auv_ws/install/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

💡 Tip: We need to export the GZ_SIM_RESOURCE_PATH and the path will be available by using the cmd echo $GZ_SIM_RESOURCE_PATH and add the path in export GZ_SIM_RESOURCE_PATH=$HOME/{path}

Finally your setup is complete use the commands given below every time before running the code:

source ~/.bashrc
colcon build